Ok, I tried as much as I could. I read so many tutorials, but I after a few days cannot get it to work 
Actually I did as simple as possible testing environment.

Actually:
- vlans wired seems to work (im not sure if configuration is fully correct, it doesnt look good but works)
- capsman is working, cap gets ip from VLAN55 and client can connect to wireless network but without getting IP address
Both “routers” are RB750Gr3.
Configs:
R1
/interface bridge
add name=ETH2-vlan-trunk
add name=bridge1 pvid=20 vlan-filtering=yes
add name=eth5-vlan20
/interface vlan
add interface=ether2 name=vlan10 vlan-id=10
add interface=ether2 name=vlan20 vlan-id=20
add interface=ether2 name=vlan30 vlan-id=30
add interface=ether2 name=vlan55-wifi vlan-id=55
add interface=ether2 name=vlan155-wifi_guest vlan-id=155
/caps-man datapath
add bridge=bridge1 local-forwarding=yes name=wifi vlan-id=55 vlan-mode=\
use-tag
add bridge=ETH2-vlan-trunk local-forwarding=yes name=wifi_guest vlan-id=155 \
vlan-mode=use-tag
/caps-man configuration
add channel.frequency=2412 datapath=wifi installation=indoor \
mode=ap name=wifi rates.basic=\
5.5Mbps,11Mbps,6Mbps,9Mbps,24Mbps,36Mbps,48Mbps,54Mbps \
security.authentication-types=wpa2-psk security.passphrase=123456789 \
ssid=test_wifi tx-chains=0,1,2,3
add channel.frequency=2412 datapath=wifi_guest installation=\
indoor mode=ap name=guest rates.basic=\
5.5Mbps,11Mbps,6Mbps,9Mbps,24Mbps,36Mbps,48Mbps,54Mbps \
security.authentication-types=wpa2-psk security.passphrase=987654321 \
ssid=test_wifi_guest tx-chains=0,1,2,3
/caps-man security
add encryption=aes-ccm name=wifi passphrase=12345678
add encryption=aes-ccm name=wifi_guest passphrase=87654321
/interface wireless security-profiles
set [ find default=yes ] supplicant-identity=MikroTik
/ip pool
add name=dhcp_pool0 ranges=192.168.10.2-192.168.10.254
add name=dhcp_pool1 ranges=192.168.20.2-192.168.20.254
add name=dhcp_pool2 ranges=192.168.55.2-192.168.55.254
add name=dhcp_pool3 ranges=192.168.155.2-192.168.155.254
add name=dhcp_pool4 ranges=192.168.88.2-192.168.88.254
/ip dhcp-server
add address-pool=dhcp_pool0 disabled=no interface=vlan10 name=dhcp-vlan10
add address-pool=dhcp_pool1 disabled=no interface=vlan20 name=dhcp-vlan20
add address-pool=dhcp_pool2 disabled=no interface=vlan55-wifi name=dhcp2
add address-pool=dhcp_pool3 disabled=no interface=vlan155-wifi_goscie name=\
dhcp3
add address-pool=dhcp_pool4 disabled=no interface=bridge1 name=dhcp4
/caps-man access-list
add allow-signal-out-of-range=10s disabled=no ssid-regexp="" vlan-id=55 \
vlan-mode=use-tag
/caps-man manager
set enabled=yes
/caps-man provisioning
add action=create-dynamic-enabled identity-regexp=AP_CAP \
master-configuration=wifi slave-configurations=guest
/interface bridge port
add bridge=bridge1 interface=ether4 pvid=20
add bridge=ETH2-vlan-trunk interface=ether2
add bridge=eth5-vlan20 interface=ether5
/interface bridge settings
set use-ip-firewall-for-vlan=yes
/ip neighbor discovery-settings
set discover-interface-list=!dynamic
/interface bridge vlan
add bridge=ETH2-vlan-trunk tagged=ETH2-vlan-trunk,vlan10,vlan20 vlan-ids=\
10,20,55,155
add bridge=eth5-vlan20 untagged=ether5,eth5-vlan20 vlan-ids=20
/ip address
add address=192.168.10.1/24 interface=vlan10 network=192.168.10.0
add address=192.168.20.1/24 interface=vlan20 network=192.168.20.0
add address=192.168.55.1/24 interface=vlan55-wifi network=192.168.55.0
add address=192.168.155.1/24 interface=vlan155-wifi_goscie network=\
192.168.155.0
add address=192.168.88.1/24 interface=bridge1 network=192.168.88.0
/ip dhcp-client
add disabled=no interface=ether1
/ip dhcp-server network
add address=192.168.10.0/24 gateway=192.168.10.1
add address=192.168.20.0/24 gateway=192.168.20.1
add address=192.168.55.0/24 gateway=192.168.55.1
add address=192.168.88.0/24 gateway=192.168.88.1
add address=192.168.155.0/24 gateway=192.168.155.1
/ip firewall filter
add action=drop chain=forward dst-address=192.168.20.0/24 src-address=\
192.168.10.0/24
/ip firewall nat
add action=masquerade chain=srcnat out-interface=ether1 src-address=\
192.168.10.0/24 to-addresses=0.0.0.0
add action=masquerade chain=srcnat out-interface=ether1 src-address=\
192.168.155.0/24 to-addresses=0.0.0.0
add action=masquerade chain=srcnat out-interface=ether1 src-address=\
192.168.20.0/24 to-addresses=0.0.0.0
add action=masquerade chain=srcnat out-interface=ether1 src-address=\
192.168.55.0/24 to-addresses=0.0.0.0
/system identity
set name=R1-ROUTER
R2
/interface bridge
add name=bridge-vlan10
add name=bridge-vlan20
add name=bridge-vlan55
add name=bridge-vlan155
/interface vlan
add interface=ether2 name=vlan10 vlan-id=10
add interface=ether2 name=vlan20 vlan-id=20
add interface=ether2 name=vlan55 vlan-id=55
add interface=ether2 name=vlan155 vlan-id=155
/interface bridge port
add bridge=bridge-vlan10 interface=ether3
add bridge=bridge-vlan10 interface=vlan10
add bridge=bridge-vlan20 interface=ether4
add bridge=bridge-vlan20 interface=vlan20
add bridge=bridge-vlan55 interface=vlan55
add bridge=bridge-vlan155 interface=vlan155
add bridge=bridge-vlan55 interface=ether5
/interface bridge vlan
add bridge=bridge-vlan55 tagged=vlan10,vlan20 untagged=vlan55,vlan155
vlan-ids=55
/ip address
add address=192.168.10.2/24 interface=vlan10 network=192.168.10.0
add address=192.168.20.2/24 interface=vlan20 network=192.168.20.0
/system identity
set name=“R2 - vlan access”[/code]
AP_CAP
/interface vlan
add interface=ether1 name=vlan55 vlan-id=55
add interface=ether1 name=vlan155 vlan-id=155
/interface list
add name=WAN
add name=LAN
/interface wireless security-profiles
set [ find default=yes ] supplicant-identity=MikroTik
/interface bridge port
add bridge=bridge-vlan55 interface=wlan1
add bridge=bridge-vlan55 interface=vlan55 pvid=55
add bridge=bridge-vlan155 interface=vlan155 pvid=155
/ip neighbor discovery-settings
set discover-interface-list=!dynamic
/interface list member
add interface=ether1 list=WAN
add interface=ether2 list=LAN
add interface=wlan1 list=LAN
add interface=wlan2 list=LAN
/interface wireless cap
set caps-man-addresses=192.168.55.1 enabled=yes interfaces=wlan1,wlan2
/ip dhcp-client
add disabled=no interface=bridge1
add disabled=no interface=ether1
/ip firewall filter
add action=accept chain=forward log=yes
/system identity
set name=AP_CAP
/system logging
add topics=firewall
>
Thank You in advance for help.